GLOBAL PATH PLANNING METHOD AND APPARATUS, TERMINAL, AND READABLE STORAGE MEDIUM

摘要

A global path planning method and apparatus, a terminal, and a readable storage medium, for use in achieving the planning of a global path as far away as possible from obstacles, so that a robot can effectively avoid collisions with obstacles when running. The method comprises: obtaining environment information of an environment where a robot is located and a target end point (S101), the environment information comprising obstacle information in the environment and a starting position of the robot; determining, according to the obstacle information, the environment complexity corresponding to each target grid in a grid map corresponding to the environment (S102); performing global path planning according to a pre-stored global path planning algorithm, the target end point, the starting position, and the environment complexity to obtain a target global path (S103); and determining a final global path on the basis of the target global path, so that the robot runs to the target end point in accordance with the final global path (S104).